JP2009526512A - Method and apparatus for determining torque of power equipment - Google Patents

Method and apparatus for determining torque of power equipment Download PDF

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JP2009526512A
JP2009526512A JP2008553718A JP2008553718A JP2009526512A JP 2009526512 A JP2009526512 A JP 2009526512A JP 2008553718 A JP2008553718 A JP 2008553718A JP 2008553718 A JP2008553718 A JP 2008553718A JP 2009526512 A JP2009526512 A JP 2009526512A
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torque
power device
ind
electric power
phase voltage
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アイゼンハルト マルティン
ブリント シュテファン
ゲッティング グンター
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Robert Bosch GmbH
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/907—Specific control circuit element or device
    • Y10S388/912—Pulse or frequency counter

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

本発明は特に永久励磁型の電力機器（１）のトルク（Ｍ）を求める方法に関する。トルク（Ｍ）は、電力機器（１）の相電圧（Ｕｉｎｄ）と回転数（ｎないしω）を測定し、これらからトルク（Ｍ）を計算することによって、特に簡単かつ正確に求めることができる。The present invention particularly relates to a method for determining the torque (M) of a permanent-excitation power device (1). The torque (M) can be obtained particularly easily and accurately by measuring the phase voltage (U ind ) and the rotational speed (n to ω) of the electric power device (1) and calculating the torque (M) therefrom. it can.

Description

本発明は、請求項１の上位概念に従った電力機器、特に永久励磁型の電力機器のトルクを求める方法と、請求項５の上位概念に従った相応する装置とに関する。   The invention relates to a method for determining the torque of a power device according to the superordinate concept of claim 1, in particular a permanent excitation type power device, and a corresponding device according to the superordinate concept of claim 5.

現代のハイブリッド車では、通常、永久励磁型の同期機が電気駆動として使用される。永久励磁同期機は磁束を発生させるマグネットが中に配置されたロータとステータ巻線付きのステータとを含んでいる。電力機器はトルクを発生させるが、このトルクは特に相電流と機器内の磁束とに依存する。発生したトルクは車両の加速特性ないし走行特性を決定するので、求めるべき重要な値である。   In modern hybrid vehicles, a permanent excitation type synchronous machine is usually used as an electric drive. The permanent excitation synchronous machine includes a rotor having a magnet for generating magnetic flux disposed therein and a stator with stator windings. Power equipment generates torque, which depends in particular on the phase current and the magnetic flux in the equipment. The generated torque is an important value to be obtained because it determines the acceleration characteristic or running characteristic of the vehicle.

従来の車両では、電力機器のトルクはふつう数学的モデルを用いて計算される。リラクタンストルクが生じないと仮定すれば、トルクＭに関して次式が成り立つ。
Ｍ ＝ Ｋ * Ｉｑ * Ψ，
ここで、
Ｋ：機器定数
Ｉｑ：機器内の横流（ベクトル制御）
Ψ：機器内の磁束 In conventional vehicles, the torque of the power equipment is usually calculated using a mathematical model. Assuming that reluctance torque does not occur, the following equation holds for torque M:
M = K * Iq * Ψ,
here,
K: Equipment constant I q : Cross current in equipment (vector control)
Ψ: Magnetic flux in equipment

しかし、このトルクＭの計算は比較的不正確である。というのも、磁束Ψは一定でなく、特に温度に依存して変動するからである。このことから比較的大きな誤差が幾重にも生じる。   However, this calculation of torque M is relatively inaccurate. This is because the magnetic flux Ψ is not constant and varies depending on the temperature. This results in several relatively large errors.

それゆえ、本発明の課題は、電力機器のトルクを格段に正確に求めることのできる方法および相応する装置を提供することである。   The object of the present invention is therefore to provide a method and a corresponding device which can determine the torque of a power device much more accurately.

本発明によれば、この課題は請求項１および請求項５に示されている特徴により解決される。本発明の他の実施形態は従属請求項の対象である。   According to the invention, this problem is solved by the features indicated in claims 1 and 5. Other embodiments of the invention are the subject of the dependent claims.

本発明の１つの重要な側面は、相電圧と電力機器の回転数を測定し、これらからトルクを計算することにある。「回転数」という表現は、例えば角周波数のような比例量を意味するものと理解されなければならない。これにより、電力機器のトルクＭを求める際に特に温度の影響を考慮することができ、トルクＭがより正確に求められるという重要な利点が得られる。   One important aspect of the present invention is to measure the phase voltage and the number of revolutions of the power equipment and calculate the torque from them. The expression “number of revolutions” should be understood as meaning a proportional quantity, for example an angular frequency. Thereby, when determining the torque M of the power equipment, the influence of temperature can be taken into consideration, and an important advantage is obtained that the torque M is determined more accurately.

トルクは有利には下記の数学的モデルに従って計算される。
Ｍ ＝ Ｋ* Ｉｑ * Ψ
しかしここで、磁束Ψは測定された相電圧Ｕｉｎｄと電力機器の回転数ないし角周波数とから計算される。磁束Ψについては次式が成り立つ。
Ψ ＝ Ｕｉｎｄ／ω
ここで、
Ｕｉｎｄ：誘導電圧
ω：角周波数 The torque is preferably calculated according to the following mathematical model.
M = K * Iq * Ψ
Here, however, the magnetic flux Ψ is calculated from the measured phase voltage U ind and the rotational speed or angular frequency of the power equipment. The following equation holds for the magnetic flux Ψ.
Ψ = U ind / ω
here,
U ind : induced voltage ω: angular frequency

相電圧Ｕｉｎｄは有利には電力機器１の無負荷時に測定される。この状態では、電力機器に接続されたパルス幅変調インバータの全スイッチが開いており、相電圧は実質的に正弦波状の波形を示す。したがって、相電圧を正確に測定することが可能である。トルクＭの計算には、相電圧Ｕｉｎｄのピーク値を参照すると有利である。 The phase voltage U ind is preferably measured when the power device 1 is unloaded. In this state, all the switches of the pulse width modulation inverter connected to the power device are open, and the phase voltage substantially exhibits a sinusoidal waveform. Therefore, it is possible to accurately measure the phase voltage. For the calculation of the torque M, it is advantageous to refer to the peak value of the phase voltage Uind .

電力機器のトルク、特に永久励磁電力機器のトルクを求める本発明による装置は、トルクＭを求めるためのアルゴリズムを備えた制御ユニットを含んでいる。この制御ユニットには相電圧信号Ｕｉｎｄと回転数信号が供給され、アルゴリズムがこれらの値に基づいてトルクＭを計算する。 The device according to the invention for determining the torque of a power device, in particular the torque of a permanent excitation power device, includes a control unit with an algorithm for determining the torque M. The control unit is supplied with a phase voltage signal U ind and a rotational speed signal, and the algorithm calculates the torque M based on these values.

制御ユニットがパルス幅変調インバータ（ＰＷＲ）を制御するための出力信号を生成し、このパルス幅変調インバータを用いて特に電力機器の出力を変化させるようにすると有利である。   It is advantageous if the control unit generates an output signal for controlling a pulse width modulation inverter (PWR) and uses this pulse width modulation inverter in particular to change the output of the power equipment.

以下に、添付図面に基づいて本発明の実施例をより詳細に説明する。   Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

図１には、三相電力機器１とこれに接続されたパルス幅変調インバータ２が概略的に示されている。パルス幅変調インバータ（ＰＷＲ）２は電力機器１の個々の位相Ｕ，Ｖ，Ｗに接続された遮断器６ａ−６ｆを含んでおり、位相Ｕ，Ｖ，Ｗは高い供給電位（中間回路電圧Ｕｚ）または低い基準電位（アース）のいずれかに接続する。高い供給電位Ｕｚに接続されたスイッチ６ａ−６ｃは「ハイサイドスイッチ」とも呼ばれ、アースに接続されたスイッチ６ｄ−６ｆは「ローサイドスイッチ」と呼ばれる。パルス幅変調インバータ２はさらに複数のフリーホイールダイオード７ａ−７ｆを含んでおり、これらフリーホイールダイオード７ａ−７ｆはそれぞれスイッチ６ａ−６ｆのうちの１つに並列して配置されている。 FIG. 1 schematically shows a three-phase power device 1 and a pulse width modulation inverter 2 connected thereto. The pulse width modulation inverter (PWR) 2 includes circuit breakers 6a-6f connected to the individual phases U, V, W of the power equipment 1, where the phases U, V, W are high supply potentials (intermediate circuit voltage U). z ) or connected to either a low reference potential (earth). Switch 6a-6c that is connected to a high supply potential U z is also called "high-side switch", the switch 6d-6f connected to ground are referred to as "low-side switch". The pulse width modulation inverter 2 further includes a plurality of freewheel diodes 7a-7f, which are arranged in parallel with one of the switches 6a-6f, respectively.

ＰＷＲ２は電力機器１の出力と動作モードを決定するものであり、制御ユニット１２により相応に制御される。そのため、電力機器１は選択的に電動機モードまたは発電機モードで動作することができる。   The PWR 2 determines the output and operation mode of the power device 1 and is controlled accordingly by the control unit 12. Therefore, the electric power device 1 can selectively operate in the electric motor mode or the generator mode.

パルス幅変調インバータ２はさらにいわゆる中間回路キャパシタ８を含んでいる。この中間回路キャパシタ８は主にバッテリ電圧の安定化に使用される。バッテリ９を備えた車載電源が中間回路キャパシタ８に並列接続されている。   The pulse width modulation inverter 2 further includes a so-called intermediate circuit capacitor 8. This intermediate circuit capacitor 8 is mainly used to stabilize the battery voltage. An in-vehicle power supply including a battery 9 is connected in parallel to the intermediate circuit capacitor 8.

電力機器１はここでは三相として実施されており、３つの素線３ａ−３ｃを有するステータと複数の永久磁石１１を有するロータを含んでいる。素線３ａ−３ｃのオーム性抵抗は素子１０ａ−１０ｃで表されている。   The electric power device 1 is implemented here as a three-phase, and includes a stator having three strands 3 a to 3 c and a rotor having a plurality of permanent magnets 11. The ohmic resistance of the strands 3a-3c is represented by elements 10a-10c.

電力機器１はトルクＭを発生させるが、このトルクＭはとりわけ相電流ＩＵ，ＩＶ，ＩＷないし横流Ｉｑ（ベクトル制御）と電力機器１内の磁束Ψとに依存する。電力機器のその時々のトルクＭは制御ユニット１２が装備している数学的モデルを用いて計算される。このモデルないしアルゴリズムは次の関係式に従ってトルクＭを計算する。
Ｍ ＝ Ｋ* Ｉｑ * Ψ
ここで、磁束Ψは下式のように電磁誘導の原理を経由して求められる。
Ｕｉｎｄ ＝ ω * Ψ または Ψ ＝ Ｕｉｎｄ／ω
ここで、
Ｕｉｎｄ：無負荷時の機器の誘導電圧
ω：電気角周波数 The electric power device 1 generates a torque M, which depends on the phase currents I U , I V , I W or cross current I q (vector control) and the magnetic flux Ψ in the electric power device 1. The current torque M of the power device is calculated using a mathematical model that the control unit 12 is equipped with. This model or algorithm calculates the torque M according to the following relation:
M = K * Iq * Ψ
Here, the magnetic flux Ψ is obtained via the principle of electromagnetic induction as shown in the following equation.
U ind = ω * Ψ or Ψ = U ind / ω
here,
U ind : Equipment induced voltage ω at no load: Electrical angular frequency

電力機器１の角周波数ωはここでは回転数センサ５で測定される。ステータ巻線３ａ−３ｃの誘導電圧Ｕｉｎｄは電圧源４ａ−４ｃにより概略的に示されており、簡単な電圧センサで測定することができる。誘導電圧Ｕｉｎｄとして、例えば、前記位相のうちの２つ、例えばＵとＶの間の電圧、または、位相Ｕ，Ｖ，Ｗのうちの１つと基準電位の間の電圧を測定してよい。この電圧Ｕｉｎｄは電力機器１の無負荷時には正弦波状であるので、この状態のときに測定すると有利である。（無負荷時には、パルス幅変調インバータ２の６つの遮断器６ａ−６ｆが開いている。） Here, the angular frequency ω of the electric power device 1 is measured by the rotation speed sensor 5. The induced voltage Uind of the stator windings 3a-3c is schematically indicated by the voltage sources 4a-4c and can be measured with a simple voltage sensor. As the induced voltage U ind , for example, a voltage between two of the phases, for example, a voltage between U and V, or a voltage between one of the phases U, V, and W and a reference potential may be measured. Since this voltage U ind is sinusoidal when the power device 1 is not loaded, it is advantageous to measure in this state. (When there is no load, the six circuit breakers 6a-6f of the pulse width modulation inverter 2 are open.)

電力機器１の回転数は測定時には十分に大きくなければならないが、他方では最大回転数を超えてはならない。ここで、最大回転数とは、それを超えると、フリーホイールダイオード７ａ−７ｆは整流器ブリッジとして機能することになる回転数である。上記が満たされない場合には、相電圧Ｕ，Ｖ，Ｗは歪み、もはや正弦波状ではなくなってしまう。   The rotational speed of the power device 1 must be sufficiently large during the measurement, but on the other hand it must not exceed the maximum rotational speed. Here, the maximum number of rotations is the number of rotations beyond which the freewheeling diodes 7a-7f will function as a rectifier bridge. If the above is not met, the phase voltages U, V, W are distorted and no longer sinusoidal.

電圧信号Ｕｉｎｄ、回転数信号ｎは制御ユニット１２の入力側に供給される。電圧信号からはピーク値が計算される。これは前に述べた誘導電圧Ｕｉｎｄに相当する。制御ユニット１２に格納されているアルゴリズムがこれらの値を処理し、電力機器１のその時々のトルクＭを求める。 The voltage signal U ind and the rotation speed signal n are supplied to the input side of the control unit 12. A peak value is calculated from the voltage signal. This corresponds to the previously described induced voltage Uind . The algorithm stored in the control unit 12 processes these values to determine the current torque M of the power device 1.

トルクＭの計算するための数学的モデルは解析的に制御ユニット１２に格納しておいてもよいし、特性マップとして制御ユニット１２に格納しておいてもよい。このようにして、トルクＭは特に正確かつ簡単に求められる。   The mathematical model for calculating the torque M may be analytically stored in the control unit 12 or may be stored in the control unit 12 as a characteristic map. In this way, the torque M is determined particularly accurately and simply.

三相電力機器１とこれに接続されたパルス幅変調インバータ２を示す。A three-phase power device 1 and a pulse width modulation inverter 2 connected thereto are shown.

Claims (7)

とりわけ永久励磁型の電力機器（１）のトルク（Ｍ）を求める方法であって、前記電力機器（１）の相電圧（Ｕｉｎｄ）と回転数（ｎ，ω）を測定し、これら相電圧と回転数からトルク（Ｍ）を計算することを特徴とする、電力機器（１）のトルク（Ｍ）を求める方法。 In particular, it is a method for obtaining the torque (M) of the permanent excitation type electric power device (1), which measures the phase voltage (U ind ) and the rotational speed (n, ω) of the electric power device (1), and these phase voltages. And calculating the torque (M) of the electric power device (1), wherein the torque (M) is calculated from the rotational speed. 相電圧（Ｕｉｎｄ）を前記電力機器（１）の無負荷時に測定する、請求項１記載の方法。 The method according to claim 1, wherein a phase voltage (U ind ) is measured when the power device (1) is unloaded. 相電圧（Ｕｉｎｄ）のピーク値を求める、請求項１または２記載の方法。 The method according to claim 1, wherein a peak value of the phase voltage (U ind ) is obtained. 関数Ｍ＝ｆ（Ｋ，Ｉｑ，Ｕｉｎｄ，ωないしｎ）によりトルク（Ｍ）を計算する、請求項１から３のいずれか１項記載の方法。 The method according to claim 1, wherein the torque (M) is calculated by the function M = f (K, I q , U ind , ω to n). とりわけ永久励磁型の電力機器（１）のトルク（Ｍ）を求める装置であって、トルク（Ｍ）を求めるためのアルゴリズムを備えた制御ユニット（１２）を有しており、前記アルゴリズムを用いて、前記制御ユニット（１２）に供給された相電圧信号（Ｕｉｎｄ）と回転数信号（ｎ，ω）から前記電力機器（１）のトルク（Ｍ）が計算されることを特徴とする、電力機器（１）のトルク（Ｍ）を求める装置。 In particular, it is a device for obtaining the torque (M) of the permanent excitation type electric power device (1), and has a control unit (12) having an algorithm for obtaining the torque (M). The torque (M) of the electric power device (1) is calculated from the phase voltage signal (U ind ) and the rotation speed signal (n, ω) supplied to the control unit (12). Device for obtaining torque (M) of device (1). 前記制御ユニット（１２）はパルス幅変調インバータ（２）を制御するための出力信号（Ａ）を生成する、請求項５記載の装置。   6. The device according to claim 5, wherein the control unit (12) generates an output signal (A) for controlling the pulse width modulation inverter (2). 前記アルゴリズムは関数Ｍ＝ｆ（Ｋ，Ｉｑ，Ｕｉｎｄ，ωないしｎ）によりトルク（Ｍ）を計算する、請求項５または６記載の方法。 The method according to claim 5 or 6, wherein the algorithm calculates the torque (M) by the function M = f (K, Iq , Uind , ω to n).
JP2008553718A 2006-02-09 2007-01-30 Method and apparatus for determining torque of power equipment Pending JP2009526512A (en)

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DE102006005854A DE102006005854A1 (en) 2006-02-09 2006-02-09 Method and device for determining the torque of an electrical machine
PCT/EP2007/050869 WO2007090760A2 (en) 2006-02-09 2007-01-30 Method and device for determining the torque of an electric machine

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